TWM513829U - Frame mechanism of self balancing vehicle - Google Patents

Frame mechanism of self balancing vehicle Download PDF

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Publication number
TWM513829U
TWM513829U TW104209172U TW104209172U TWM513829U TW M513829 U TWM513829 U TW M513829U TW 104209172 U TW104209172 U TW 104209172U TW 104209172 U TW104209172 U TW 104209172U TW M513829 U TWM513829 U TW M513829U
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TW
Taiwan
Prior art keywords
frame
pivoting
unit
self
adapter
Prior art date
Application number
TW104209172U
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Chinese (zh)
Inventor
fu-rong Zhang
Original Assignee
fu-rong Zhang
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Publication of TWM513829U publication Critical patent/TWM513829U/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01—Motorcycles with four or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Handcart (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Description

自平衡車之車架機構Self-balancing frame frame mechanism

本新型是有關於一種車架，特別是指一種用於自平衡車之車架機構。The present invention relates to a frame, and more particularly to a frame mechanism for a self-balancing vehicle.

獨輪或兩輪自平衡車是目前市面上相當流行的一種交通工具，它們擁有自平衡機電系統設計，可透過陀螺儀或角度偵測器等裝置來感測車身之前傾或後傾，並可自動根據車身之前傾與後傾來控制驅動器傳動車輪滾轉，以使車身保持平衡狀態。但獨輪自平衡車使用時，因為是單點觸地，所以輪軸方向的平衡得由駕駛者透過控制自身姿勢來保持，容易發生失衡與失控情況。兩輪自平衡車雖然改善了獨輪自平衡車的缺點，但在操控使用時，對於需透過雙腳與一支中置把手操控之機型而言，駕駛者得要手腳並用才能操控駕駛。Single- or two-wheel self-balancing vehicles are a popular vehicle on the market. They have a self-balancing electromechanical system design that can sense the front or back tilt of the car through gyroscopes or angle detectors. Automatically controls the drive drive wheel roll according to the forward and backward tilt of the body to maintain the balance of the body. However, when the unicycle self-balancing vehicle is used, since the single-point touches the ground, the balance of the axle direction is maintained by the driver by controlling his own posture, and imbalance and loss of control are likely to occur. Although the two-wheel self-balancing car has improved the shortcomings of the uni-wheel self-balancing car, when it is used for control, the driver has to use both hands and feet to control the driving of the model that needs to be controlled by the two feet and one center handle.

此外，在過彎過程中，因為人體會受離心力影響往另一方向偏移，再加上該兩輪自平衡車的設計不符合人體工學，對於駕駛者之重心的扶持幫助少，身體重心被往外甩移之駕駛者為了穩住身體，容易過度拉引扳轉該中置把手，而致使兩輪自平衡車轉彎幅度過大而失控翻覆， 因此得要格外小心地準確把控中置把手才能安全過彎。且當該兩輪自平衡車要前傾翻倒時，會因為該中置把手擋阻於駕駛者前方，造成駕駛者無法往前跳離該兩輪自平衡車，會隨著車身倒下摔出，在安全性上仍有改進空間。此外，市面上也無單獨透過把手操控行進與轉彎之兩輪自平衡車。In addition, during the cornering process, because the human body is affected by the centrifugal force and is shifted in the other direction, and the design of the two-wheel self-balancing vehicle is not ergonomic, the support for the driver's center of gravity is less, and the body is focused. In order to stabilize the body, the driver who is moved outside is prone to over-pull and pull the center handle, causing the two-wheeled self-balancing vehicle to turn too large and overturn. Therefore, it is necessary to carefully and accurately control the center handle to safely bend. And when the two-wheeled self-balancing car is to be tipped over, the driver will not be able to jump forward from the two-wheeled self-balancing car because the center handle is blocked in front of the driver. Out, there is still room for improvement in security. In addition, there is no two-wheel self-balancing vehicle that controls the travel and turn through the handle alone.

因此，本新型之目的，即在提供一種方便操控且具有較佳安全性之自平衡車的車架機構。Therefore, the object of the present invention is to provide a frame mechanism for a self-balancing vehicle that is easy to handle and has better safety.

於是，本新型自平衡車之車架機構，適用於組裝兩個角度感測器，及兩個分別與該等角度感測器訊號連接之前車輪，且該等前車輪可分別被該等角度感測器之前後傾斜角度觸發轉動，以使各別之角度感測器趨向平衡，該車架機構包含一個前車架組，及一個第一樞接單元。該前車架組包括兩個分別可安裝一個前車輪與一個角度偵測器的前車架單元，每一個前車架單元可***作而單獨帶動各別之角度偵測器同步前後傾擺位移，且該等前車架單元相配合界定出一個介於兩者間之連結空間。該第一樞接單元是連接該等前車架單元，而使該等前車架單元可各自獨立地前後樞擺。Therefore, the frame mechanism of the self-balancing vehicle is suitable for assembling two angle sensors, and two wheels respectively connected to the angle sensor signals, and the front wheels can be respectively sensed by the angles The front and rear tilt angles trigger the rotation of the detector to balance the respective angle sensors. The frame mechanism includes a front frame set and a first pivotal unit. The front frame group includes two front frame units respectively capable of installing a front wheel and an angle detector, and each front frame unit can be operated to separately drive the respective angle detectors to synchronize the front and rear tilting displacements. And the front frame units cooperate to define a connection space between the two. The first pivoting unit is connected to the front frame units such that the front frame units can be independently pivoted back and forth.

於是，本新型自平衡車之車架機構，適用於組裝兩個角度感測器，及兩個分別與該等角度感測器訊號連接之前車輪，且該等前車輪可分別被該等角度感測器之前後傾斜角度觸發轉動，以使各別之角度感測器趨向平衡。 該車架機構包含一個前車架組、一個框架，及兩個樞設於該前車架組與該框架間的第一樞接單元。該前車架組包括兩個分別可安裝一個角度感測器與一個前車輪的前車架單元，且每一個前車架單元可***作而單獨帶動各別之角度感測器同步前後傾擺位移。該框架是左右延伸設置於該等前車架單元間，具有一個左右延伸之跨接部，及兩個直立固接於該跨接部左右兩端之樞接部，且該框架還界定出一個上下貫穿的連結空間。該等第一樞接單元是分別安裝樞設於該等前車架單元與該框架之該等樞接部間，使該等前車架單元可各自獨立地前後傾擺。Therefore, the frame mechanism of the self-balancing vehicle is suitable for assembling two angle sensors, and two wheels respectively connected to the angle sensor signals, and the front wheels can be respectively sensed by the angles The front and rear tilt angles of the detector trigger the rotation so that the individual angle sensors tend to balance. The frame mechanism includes a front frame set, a frame, and two first pivoting units pivoted between the front frame set and the frame. The front frame set includes two front frame units respectively capable of mounting an angle sensor and a front wheel, and each front frame unit can be operated to separately drive the respective angle sensors to be tilted back and forth. Displacement. The frame is disposed between the front frame units and has a left and right extending bridging portion, and two pivoting portions fixed to the left and right ends of the bridging portion, and the frame further defines a The connecting space that runs up and down. The first pivoting units are respectively mounted between the front frame units and the pivoting portions of the frame, so that the front frame units can be tilted back and forth independently.

本新型之功效：透過該前車架組及該第一樞接單元之組合結構設計，可使製成之自平衡車方便選擇以雙手操控把手及/或以雙腳踩踏操控踏板的方式，來控制自平衡車之行進與轉彎，可大幅提高製成之自平衡車的操控靈活度。The effect of the novel: through the combined structure design of the front frame group and the first pivoting unit, the self-balancing car can be conveniently selected to operate the handle with both hands and/or step on the control pedal with both feet. To control the travel and turn of the self-balancing car, the handling flexibility of the self-balancing car can be greatly improved.

2‧‧‧前車架組2‧‧‧Front frame group

3‧‧‧前車架單元3‧‧‧Front frame unit

30‧‧‧連結空間30‧‧‧Link space

31‧‧‧踏板31‧‧‧ pedal

310‧‧‧安裝孔310‧‧‧Mounting holes

311‧‧‧踩踏壁311‧‧‧Stepping on the wall

312‧‧‧擋靠壁312‧‧‧ Guard wall

32‧‧‧架體32‧‧‧ ‧ frame

33‧‧‧把手33‧‧‧Hands

34‧‧‧連接架34‧‧‧Connecting frame

4‧‧‧第一樞接單元4‧‧‧First pivotal unit

41‧‧‧第一樞接座41‧‧‧First pivoting seat

42‧‧‧第二樞接座42‧‧‧Second pivoting seat

43‧‧‧第一軸承43‧‧‧First bearing

430‧‧‧軸心430‧‧‧Axis

44‧‧‧第一軸承座44‧‧‧First bearing housing

45‧‧‧樞軸45‧‧‧ pivot

451‧‧‧軸桿段451‧‧‧ shaft section

452‧‧‧凸環段452‧‧ ‧ convex ring segment

453‧‧‧轉接段453‧‧‧Transfer section

46‧‧‧第四軸承46‧‧‧fourth bearing

47‧‧‧固定座47‧‧‧ fixed seat

5‧‧‧框架5‧‧‧Frame

51‧‧‧樞接部51‧‧‧ pivotal department

52‧‧‧跨接部52‧‧‧ bridging department

53‧‧‧軸管部53‧‧‧ shaft tube department

54‧‧‧軸接部54‧‧‧Axis joint

6‧‧‧轉接單元6‧‧‧Transfer unit

61‧‧‧轉接件61‧‧‧Adapters

611‧‧‧套環部611‧‧‧Rings

612‧‧‧樞耳部612‧‧‧Axis

613‧‧‧軸插部613‧‧‧Axis plug

614‧‧‧轉接管部614‧‧‧Transportation Department

62‧‧‧第三軸承62‧‧‧ Third bearing

63‧‧‧面軸承63‧‧‧ face bearing

64‧‧‧旋轉軸64‧‧‧Rotary axis

7‧‧‧後拖架組7‧‧‧ rear trailer group

71‧‧‧連接軸71‧‧‧Connected shaft

711‧‧‧疊靠板部711‧‧‧Stacked board

712‧‧‧軸桿部712‧‧‧ shaft part

72‧‧‧後拖架單元72‧‧‧ rear trailer unit

721‧‧‧承載座721‧‧‧ bearing seat

722‧‧‧後輪軸722‧‧‧ Rear axle

73‧‧‧第二樞接單元73‧‧‧Second pivotal unit

731‧‧‧第二軸承座731‧‧‧Second bearing

732‧‧‧第二軸承732‧‧‧second bearing

74‧‧‧連接桿74‧‧‧ Connecting rod

741‧‧‧桿體部741‧‧‧ Body

742‧‧‧樞耳部742‧‧‧Axis

800‧‧‧前車輪800‧‧‧ front wheel

801‧‧‧後車輪801‧‧‧ rear wheel

803‧‧‧箭頭803‧‧‧ arrow

804‧‧‧角度感測器804‧‧‧ Angle Sensor

900‧‧‧獨輪自平衡車900‧‧‧ unicycle self-balancing car

本新型之其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中：圖1是本新型自平衡車之車架機構的一個第一實施例的立體圖；圖2是該第一實施例的前側視剖面圖；圖3是圖2之局部剖視放大圖，說明該第一實施例之一個第一樞接單元的結構；圖4類似圖1之視圖，說明該第一實施例之兩個前車 架單元被驅動前傾時的立體圖；圖5類似圖1之視圖，說明該第一實施例之兩個前車架單元被驅動後傾時的立體圖；圖6類似圖1之視圖，說明該第一實施例之左側前車架單元單獨被驅動前傾時的立體圖；圖7類似圖1之視圖，說明該第一實施例之右側前車架單元被單獨驅動前傾時的立體圖；圖8是本新型自平衡車之車架機構的一個第二實施例的立體圖；圖9是該第二實施例的前側視剖面圖；圖10是類似圖9之視圖，說明兩個角度感測器安裝於該等前車架單元的另一種實施態樣；圖11是本新型自平衡車之車架機構的一個第三實施例的右側視剖面圖；圖12是該第三實施例的俯視圖；圖13是該第三實施例之另一個實施態樣的右側視剖面圖；圖14是本新型自平衡車之車架機構的一個第四實施例的右側視剖面圖；圖15是該第四實施例之俯視圖；圖16是該第四實施例之前側視剖面圖；圖17是本新型自平衡車之車架機構的一個第五實施例的前側視剖面圖；圖18是本新型自平衡車之車架機構的一個第六實施例 的右側視剖面圖；圖19是該第六實施例的俯視圖；圖20是該第六實施例的一個第一樞接單元與一個轉接單元的局部立體分解圖；圖21是本新型自平衡車之車架機構的一個第七實施例的立體圖；圖22是該第七實施例的右側視圖；及圖23是該第七實施例的俯視圖。Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: FIG. 1 is a perspective view of a first embodiment of the frame mechanism of the present self-balancing vehicle; FIG. 3 is a partial cross-sectional enlarged view of FIG. 2 illustrating the structure of a first pivoting unit of the first embodiment; FIG. 4 is similar to the view of FIG. 1 illustrating the first embodiment. Two front cars FIG. 5 is a perspective view similar to FIG. 1 , illustrating a perspective view of the two front frame units of the first embodiment being driven to be tilted backward; FIG. 6 is similar to the view of FIG. 1 , illustrating the first FIG. 7 is a perspective view similar to FIG. 1 , illustrating a perspective view of the right front frame unit of the first embodiment being separately driven forwardly; FIG. 8 is a perspective view of FIG. A perspective view of a second embodiment of the frame mechanism of the present self-balancing vehicle; FIG. 9 is a front side sectional view of the second embodiment; FIG. 10 is a view similar to FIG. 9 illustrating the installation of two angle sensors Another embodiment of the front frame unit; FIG. 11 is a right side sectional view of a third embodiment of the frame mechanism of the self-balancing vehicle; FIG. 12 is a plan view of the third embodiment; Is a right side sectional view of another embodiment of the third embodiment; FIG. 14 is a right side sectional view of a fourth embodiment of the frame mechanism of the self-balancing vehicle; FIG. 15 is the fourth embodiment Top view; Fig. 16 is a front view of the fourth embodiment FIG surface; FIG. 17 is a front side sectional view of a frame from the new mechanism of balancing vehicle in the fifth embodiment; FIG. 18 is a carriage mechanism of the self-balancing vehicle novel embodiments of the sixth embodiment Figure 19 is a plan view of the sixth embodiment; Figure 20 is a partial exploded perspective view of a first pivoting unit and an adapter unit of the sixth embodiment; Figure 21 is a self-balancing of the present invention; A perspective view of a seventh embodiment of the frame mechanism of the vehicle; Fig. 22 is a right side view of the seventh embodiment; and Fig. 23 is a plan view of the seventh embodiment.

在本新型被詳細描述之前，應當注意在以下的說明內容中，類似的元件是以相同的編號來表示。Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.

如圖1、2、3所示，本新型自平衡車之車架機構的第一實施例，適用於組裝兩個角度感測器804，及兩個分別與該等角度感測器804訊號連接之前車輪800，而組裝構成一輛兩輪自平衡車，且該等前車輪800可分別被該等角度感測器804之前後傾斜角度觸發轉動，以帶動該車架機構位移，藉此驅使各別之角度感測器804趨向平衡。在本實施例中，所述前車輪800分別為設置有獨立動力構件(圖未示)之輪具，該等角度感測器804包含陀螺儀及/或角度偵測器等可偵測角位移之感測元件(圖未示)，該等前車輪800可分別於各別之角度感測器804被驅動產生前傾或後傾時，分別自動往前或往後滾轉，以帶動各別之角度感測器804趨向水平平衡狀態，進而使該車架機構維持在平衡狀態。由於該等前車輪800會分別被該等角度感測器 804觸發運轉，以維持該等角度感測器804趨於平衡狀態為習知技術，且非本新型改良重點，因此不再詳述。As shown in FIG. 1 and FIG. 2, the first embodiment of the frame mechanism of the self-balancing vehicle is suitable for assembling two angle sensors 804, and two signals are respectively connected to the angle sensors 804. The front wheel 800 is assembled to form a two-wheel self-balancing vehicle, and the front wheels 800 can be respectively rotated by the front and rear tilt angles of the angle sensors 804 to drive the frame mechanism displacement, thereby driving each The other angle sensors 804 tend to balance. In the embodiment, the front wheels 800 are respectively provided with independent power components (not shown), and the angle sensors 804 include gyro and/or angle detectors to detect angular displacements. Sensing elements (not shown), the front wheels 800 can be automatically rolled forward or backward respectively when the respective angle sensors 804 are driven to generate forward or backward tilting, respectively The angle sensor 804 tends to be in a horizontally balanced state, thereby maintaining the frame mechanism in an equilibrium state. Since the front wheels 800 are respectively received by the angle sensors The 804 triggering operation to maintain the angle sensors 804 in equilibrium is a conventional technique and is not an improvement of the present invention, and therefore will not be described in detail.

本新型自平衡車之該車架機構包含一個前車架組2，該前車架組2包括兩個左右間隔且分別供該等前車輪800與該等角度感測器804安裝架設之前車架單元3，及一個安裝於該等前車架單元3間而使該等前車架單元3可各自獨立地前後樞擺的第一樞接單元4，且該等前車架單元3相配合界定出一個介於兩者間之連結空間30。The frame mechanism of the novel self-balancing vehicle includes a front frame group 2, and the front frame group 2 includes two left and right spaces and is respectively provided for mounting the front wheel 800 and the angle sensor 804 before the frame a unit 3, and a first pivoting unit 4 mounted between the front frame units 3 such that the front frame units 3 can be independently pivoted forward and backward, and the front frame units 3 are cooperatively defined A link space 30 between the two is presented.

每一個前車架單元3具有一個呈中空箱體狀並可供踩踏且供各別之前車輪800安裝的踏板31，及一個上下延伸地安裝固定於該踏板31頂端之把手33。該等角度感測器804是分別安裝於該等踏板31內，該等前車輪800是分別安裝於該等踏板31之左右相背側，且該等前車輪800之軸心是平行於該第一樞接單元4之軸心430。Each of the front frame units 3 has a pedal 31 which is in the shape of a hollow box and which is stepped on for the respective front wheels 800, and a handle 33 which is fixedly attached to the top end of the pedal 31. The angle sensors 804 are respectively mounted in the pedals 31. The front wheels 800 are respectively mounted on the left and right opposite sides of the pedals 31, and the axes of the front wheels 800 are parallel to the first A pivot 430 of the pivoting unit 4.

該等踏板31可分別被踩踏操控，而分別繞該第一樞接單元4之軸心430樞轉而前傾與後傾，進而分別同步連動該等角度感測器804前傾與後傾，該連結空間30是位於該等踏板31相向側之間。該等把手33可分別被前推後拉操控傾擺，而分別帶動各別之踏板31前傾與後傾，進而分別傳動該等角度感測器804前傾與後傾。The pedals 31 can be respectively stepped and operated, and pivoted around the axis 430 of the first pivoting unit 4 to tilt forward and backward, respectively, and then synchronously interlock the angle sensors 804 to tilt forward and backward. The connection space 30 is located between the opposite sides of the pedals 31. The handles 33 can be tilted by the front push and pull strokes respectively, and respectively drive the respective pedals 31 to tilt forward and backward, respectively, and then drive the angle sensors 804 to tilt forward and backward.

該第一樞接單元4是安裝於該連結空間30內，包括分別安裝固定於該等踏板31相向側面並同軸套接之一個第一樞接座41與一個第二樞接座42，及一個安裝固定於該第一樞接座41與該第二樞接座42之徑向相向側間之第 一軸承43。該第一樞接座41與該第二樞接座42可透過該第一軸承43而相對前後樞轉。The first pivoting unit 4 is mounted in the connecting space 30, and includes a first pivoting seat 41 and a second pivoting seat 42 respectively fixed to the opposite sides of the pedals 31 and coaxially sleeved, and a first pivoting seat 42 Mounting and fixing between the first pivoting seat 41 and the radial opposite side of the second pivoting seat 42 A bearing 43. The first pivoting seat 41 and the second pivoting seat 42 are pivotable relative to the front and rear through the first bearing 43.

本新型自平衡車之車架機構在安裝該等前車輪800與該等角度感測器804後，便可構成一輛雙輪自平衡車，駕駛者可將其雙腳分別踩踏於該等踏板31上，而以其雙手別握持該等把手33。The frame mechanism of the self-balancing vehicle can form a two-wheel self-balancing vehicle after the front wheel 800 and the angle sensors 804 are installed, and the driver can step on the pedals respectively. 31, and hold the handles 33 with their hands.

如圖2、4所示，當要驅動該兩輪自平衡車前進時，可透過同時驅使該等把手33往前傾擺，以分別傳動該等踏板31同步帶動該等角度感測器804前傾，或者是直接同時踩踏驅使該等踏板31前傾，而帶動該等角度感測器804同步前傾，或者是手腳並用以同時操控該等把手33與該等踏板31前傾，使該等角度感測器804分別觸發該等前車輪800同步往前滾轉，如箭頭803所示，使該等角度感測器804趨於平衡，而相對驅使整台兩輪自平衡車產生往前行駛動作。As shown in FIG. 2 and FIG. 4, when the two-wheel self-balancing vehicle is to be driven forward, the handles 33 can be driven forward to simultaneously drive the pedals 31 to drive the angle sensors 804 respectively. Tilting, or directly stepping on at the same time to drive the pedals 31 forward, and driving the angle sensors 804 to be forward tilted, or hands and feet to simultaneously manipulate the handles 33 and the pedals 31 to lean forward, so that The angle sensor 804 triggers the front wheels 800 to roll forward synchronously. As shown by the arrow 803, the angle sensors 804 are balanced, and the entire two-wheel self-balancing vehicle is driven forward. action.

如圖2、5所示，同樣的，當要驅動該兩輪自平衡車後退行駛時，則是同步驅使該等把手33往後傾擺，或者是同步驅使該等踏板31後傾，藉以同步帶動該等角度感測器804後傾，而觸發該等前車輪800往後滾轉，如箭頭803所示，藉以使該等角度感測器804趨向平衡狀態，而相對產生往後行駛動作。As shown in FIG. 2 and FIG. 5, similarly, when the two-wheel self-balancing vehicle is to be driven to retreat, it is synchronously driving the handles 33 to tilt backwards, or synchronously driving the pedals 31 to tilt backwards, thereby synchronizing. The angle sensors 804 are driven to tilt backwards, and the front wheels 800 are triggered to roll backwards, as indicated by the arrow 803, whereby the angle sensors 804 are brought to a balanced state, and the backward driving action is relatively generated.

當要使該自平衡車停止時，駕駛者僅需保持重心平穩，使該等前車架單元3連動該等角度感測器804回正，該等角度感測器804會自動觸發該等前車輪800之運 作，以使整個車架機構保持在平衡狀態。When the self-balancing vehicle is to be stopped, the driver only needs to keep the center of gravity stable, so that the front frame unit 3 interlocks the angle sensors 804 to return, and the angle sensors 804 automatically trigger the fronts. Wheel 800 Work to keep the entire frame mechanism in balance.

如圖2、6、7所示，當要操控該兩輪自平衡車右前轉彎時，可僅前推左側該前車架單元3之該把手33前傾，或者是僅踩踏操控左側該前車架單元3之該踏板31前傾，藉以驅使左側該角度感測器804前傾，而觸發左側之前車輪800往前滾轉，如箭頭803所示，而產生右前轉彎動作。同樣地，當驅使該兩輪自平衡車左前轉彎時，則僅需驅使右側該角度感測器804產生前傾，便可觸發右側該前車輪800往前滾轉，如箭頭803所示，而產生左轉動作。相反地，當要驅使該自平衡車右後轉彎時，則是透過操作左側前車架單元3傳動左側該角度感測器804後傾，使左側該前車輪800被觸發往後滾轉，而產生右後轉彎動作，當要左後轉彎時，則操作右側前車架單元3傳動右側該角度感測器804後傾，便可使右側該前車輪800被觸發往後滾轉，而產生左後轉彎動作。As shown in FIGS. 2, 6, and 7, when the right front turn of the two-wheel self-balancing vehicle is to be manipulated, only the handle 33 of the front frame unit 3 on the left side can be pushed forward, or only the front side of the left side of the control unit is stepped on. The pedal 31 of the frame unit 3 is tilted forward to drive the left angle sensor 804 to tilt forward, and the left front wheel 800 is rolled forward, as indicated by arrow 803, to produce a right front turn. Similarly, when the two-wheel self-balancing vehicle is driven to turn left, the angle sensor 804 only needs to be driven to generate a forward tilt, and the right front wheel 800 can be triggered to roll forward, as indicated by arrow 803. Generate a left turn action. Conversely, when the self-balancing vehicle is to be driven to the right rear turn, the angle sensor 804 is tilted backward by operating the left front frame unit 3, so that the front left wheel 800 is triggered to roll backward. The right rear turning action is generated. When the left rear corner is to be turned, the right front frame unit 3 is operated to rotate the right angle sensor 804 to the rear, so that the right front wheel 800 is triggered to roll backward, and the left side is generated. After the turn.

在前述轉彎行進操控說明中，是透過操控其中一個前車架單元3的方式，來驅使左右其中一側的該角度感測器804觸發同側之前車輪800進行轉彎，但是實施時，也可透過同時操控兩個前車架單元3的方式來操控轉彎，可驅使該等前車架單元3分別往前與往後相對樞擺，而分別傳動該等角度感測器804分別前傾與後傾，藉以觸發該等前車輪800分別往前滾轉與往後滾轉，同樣可達到轉彎行進之目的。In the foregoing turning travel control description, by operating one of the front frame units 3, the angle sensor 804 on one of the left and right sides is triggered to trigger the front side of the wheel 800 to turn, but in practice, it can also be transmitted. Simultaneously manipulating the two front frame units 3 to control the turning, the front frame units 3 can be driven to pivot forward and backward respectively, and the angle sensors 804 are respectively driven forward and backward. In order to trigger the front wheel 800 to roll forward and backward, respectively, the same purpose can be achieved.

透過本新型車架機構之設計，可方便透過踩踏 該等踏板31及/或前後推拉等把手33的方式，來分別帶動該等角度感測器804產生前傾與後傾，所以可方便駕駛者透過雙腳及/或雙手來操控本新型車架機構所製成之兩輪自平衡車的前進、後退與轉彎，而具有更靈活的操控性，且一旦有失控情況發生時，使用者可由兩把手33間之空間往前跳車，提升安全性。本實施例是以具有把手33為例作說明，但實際實施時亦可以不設置把手33，而以踩踏該等踏板31控制，故實施方式不以具有把手33為限。Through the design of the new frame mechanism, it is easy to step on the pedal The pedals 31 and/or the handles 33 are pushed forward and backward to drive the angle sensors 804 to forward and backward, respectively, so that the driver can control the new car through the feet and/or hands. The two-wheel self-balancing car made by the frame mechanism has more flexible maneuverability, and when there is a situation of out-of-control, the user can jump forward from the space between the two handles 33 to improve safety. Sex. In this embodiment, the handle 33 is taken as an example. However, in practice, the handle 33 may not be provided, but the pedal 31 may be stepped on. Therefore, the embodiment is not limited to having the handle 33.

在本實施例中，該第一樞接單元4之該第一樞接座41與該第二樞接座42是分別另外安裝固定於該等前車架單元3，可方便拆換維修，但實施時，該第一樞接座41與該第二樞接座42也可設計成分別與該等前車架單元3一體成型之型式，而可方便組裝製造。本實施例是以第一樞接座41與第二樞接座42軸裝該第一軸承43為例作說明，但實際實施時，也可以其他方式軸接該等踏板31，不以圖式所示之該第一樞接單元4類型為限。In this embodiment, the first pivoting seat 41 and the second pivoting base 42 of the first pivoting unit 4 are separately mounted and fixed to the front frame unit 3, which can be easily replaced and repaired, but In practice, the first pivoting seat 41 and the second pivoting seat 42 can also be designed to be integrally formed with the front frame units 3, respectively, and can be easily assembled and manufactured. In this embodiment, the first pivoting seat 41 and the second pivoting base 42 are pivotally mounted with the first bearing 43 as an example. However, in actual implementation, the pedals 31 may be axially connected in other manners, not in the drawings. The type of the first pivoting unit 4 shown is limited.

如圖8、9所示，本新型自平衡車之車架機構的第二實施例與該第一實施例差異處在於：該等前車架單元3之結構設計。為方便說明，以下將僅針對本實施例與該第一實施例差異處進行描述。As shown in FIGS. 8 and 9, the second embodiment of the frame mechanism of the self-balancing vehicle differs from the first embodiment in the structural design of the front frame unit 3. For convenience of explanation, only the differences between the present embodiment and the first embodiment will be described below.

在本實施例中，該等前車架單元3分別包括一個架體32、一個安裝於該架體32底端之踏板31，及一個安裝於該架體32頂端之把手33。該等架體32可分別供各 別之前車輪800與各別之角度感測器804安裝。該等踏板31分別具有一個自各別之架體32底端朝另一個前車架單元3水平突伸之踩踏壁311，及一個自該踩踏壁311遠離該架體32之一側往上突伸之擋靠壁312，該連結空間30是位於該等擋靠壁312相向側間。該第一樞接單元4之該第一樞接座41與該第二樞接座42是分別安裝固定於該等擋靠壁312相向側面，並經由該第一軸承43而樞接在一起，而使得該等前車架單元3可各自獨立地前後樞擺。In the present embodiment, the front frame units 3 respectively include a frame body 32, a pedal 31 mounted to the bottom end of the frame body 32, and a handle 33 attached to the top end of the frame body 32. The frames 32 can be provided separately for each The wheel 800 is previously mounted with a separate angle sensor 804. The pedals 31 respectively have a stepping wall 311 protruding horizontally from the bottom end of the respective frame body 32 toward the other front frame unit 3, and a stepping block from the side of the stepping wall 311 away from the side of the frame body 32. Against the wall 312, the joint space 30 is located between the opposite sides of the abutment walls 312. The first pivoting seat 41 and the second pivoting seat 42 of the first pivoting unit 4 are respectively mounted and fixed to opposite sides of the blocking wall 312, and are pivotally connected together via the first bearing 43. The front frame units 3 can be pivoted back and forth independently of each other.

本實施例車架機構所製成之兩輪自平衡車的駕駛操控方式與第一實施例相同，同樣可供透過雙手及/或雙腳來操控該等前車架單元3之前傾與後傾，而使該等前車輪800被驅動往前滾轉或往後滾轉。The driving control mode of the two-wheel self-balancing vehicle made by the frame mechanism of the embodiment is the same as that of the first embodiment, and the front frame unit 3 can be manipulated by both hands and/or the feet before and after tilting. Tilting, causing the front wheels 800 to be driven to roll forward or backward.

配合參閱圖10，在本實施例中，該車架機構之該等前車架單元3是設計成可供該等前車輪800與該等角度感測器804各別安裝之類型，可供該等角度感測器804分別安裝於該等架體32，但實施時，也可將該踏板31設計成箱體狀，並將該等角度感測器804分別安裝於該等踏板31內。此外，實施時，也可將該第一樞接單元4之該第一樞接座41與該第二樞接座42分別安裝於該等踏板31底面，同樣可經由該軸承43而使該等前車架單元3可各自獨立地前後樞擺。With reference to FIG. 10, in the present embodiment, the front frame unit 3 of the frame mechanism is of a type designed to be separately mounted by the front wheel 800 and the angle sensors 804. The equal-angle sensors 804 are respectively mounted on the frame bodies 32, but in practice, the pedals 31 may be designed in a box shape, and the angle sensors 804 are respectively mounted in the pedals 31. In addition, the first pivoting seat 41 and the second pivoting base 42 of the first pivoting unit 4 can be respectively mounted on the bottom surface of the pedals 31, and the same can be made via the bearing 43. The front frame units 3 can each independently pivot forward and backward.

再者，該等前車架單元3也可分別供兩台分別具有該前車輪800與該角度感測器804的獨輪自平衡車組裝，而構成該兩輪自平衡車，且同樣可透過分別操控該等 前車架單元3前後傾擺的方式，來分別驅使該等獨輪自平衡車前進、後退，而達到控制整個兩輪自平衡車之行進與轉彎。Furthermore, the front frame unit 3 can also be assembled by two uni-wheel self-balancing vehicles each having the front wheel 800 and the angle sensor 804, and the two-wheel self-balancing vehicle is also permeable. Control these separately The front frame unit 3 is tilted forward and backward to drive the uni-wheel self-balancing vehicles forward and backward, respectively, to control the travel and turn of the entire two-wheel self-balancing vehicle.

如圖11、12所示，本新型自平衡車之車架機構的第三實施例與第二實施例差異處在於：該前車架組2之結構設計，該車架機構還包含一個連結設置在該前車架組2之該連結空間30並可供兩個後車輪801安裝的後拖架組7。As shown in FIGS. 11 and 12, the third embodiment of the frame mechanism of the self-balancing vehicle differs from the second embodiment in the structural design of the front frame group 2, and the frame mechanism further includes a link setting. The rear trailer group 7 is provided in the joint space 30 of the front frame group 2 and is provided for the two rear wheels 801.

在本實施例中，該前車架組2還包括一個安裝於該連結空間30內並同軸樞設於該第一樞接單元4的轉接單元6，該轉接單元6包括一個同軸套設於該第一樞接座41外之環狀轉接件61，及一個上下穿設於該轉接件61之旋轉軸64，該轉接件61具有一個套接樞設於該第一樞接座41外的套環部611，及兩個上下間隔地自該套環部611往後突伸之樞耳部612，該旋轉軸64是上下穿插樞設於該等樞耳部612。In this embodiment, the front frame group 2 further includes an adapter unit 6 mounted in the connection space 30 and coaxially pivoted to the first pivoting unit 4, the adapter unit 6 including a coaxial sleeve An annular adapter 61 outside the first pivoting seat 41, and a rotating shaft 64 extending up and down from the adapter 61. The adapter 61 has a socket pivoted to the first pivoting The collar portion 611 outside the seat 41 and the two pivot portions 612 projecting rearwardly from the collar portion 611 are spaced apart from each other. The rotation shaft 64 is pivotally disposed at the pivot portion 612.

該後拖架組7包括一個前後延伸且可左右樞擺地樞設於該旋轉軸64之連接軸71、一個位於該前車架組2後方之後拖架單元72，及一個安裝固定於該後拖架單元72並套接樞設於該連接軸71後端部之第二樞接單元73。該連接軸71之前端部是被該旋轉軸64穿插樞設定位於該等樞耳部612相向側間，而可相對該前車架組2左右樞擺。The rear tray group 7 includes a connecting shaft 71 extending forward and backward and pivoting to the rotating shaft 64, a tray unit 72 behind the front frame group 2, and a mounting and fixing device The tray unit 72 is sleeved and connected to the second pivoting unit 73 pivotally disposed at the rear end of the connecting shaft 71. The front end portion of the connecting shaft 71 is interposed between the opposite sides of the isometric ear portion 612 by the pivoting shaft 64, and is pivotable relative to the front frame group 2.

該後拖架單元72包括一個承載座721，及一個左右延伸地安裝樞設於該承載座721底面且供該等後車輪 801安裝於其兩端部之後輪軸722。該第二樞接單元73包括一個固定於該承載座721底部之第二軸承座731，及一個安裝於該第二軸承座731且同軸套接樞設於該連接軸71的第二軸承732。藉由該第二樞接單元73與該連接軸71之樞接結構設計，使得該後拖架單元72可繞該連接軸71軸心相對該前車架組2左右樞轉。The rear tray unit 72 includes a carrier 721, and a left and right extension is pivotally mounted on the bottom surface of the carrier 721 for the rear wheels. The 801 is mounted to the rear axle 722 at its both ends. The second pivoting unit 73 includes a second bearing block 731 fixed to the bottom of the bearing base 721, and a second bearing 732 mounted on the second bearing block 731 and coaxially sleeved on the connecting shaft 71. The pivoting structure of the second pivoting unit 73 and the connecting shaft 71 is designed such that the rear tray unit 72 can pivot about the axis of the connecting shaft 71 relative to the front frame group 2 to the left and right.

透過於該前車架組2之該連結空間30安裝連結該後拖架組7之結構設計，除了可方便用以製造四輪的自平衡車，且同樣可方便操作該等前車架單元3之前後傾擺來操控自平衡車之前進後退與轉彎外，還可方便使用者於該後拖架單元72上設置座椅(圖未示)，讓行動不便的使用者可透過乘坐於該座椅的方式，來操作該等前車架單元3前後傾擺，而操作駕駛製成之自平衡車，使得本新型車架機構製成之自平衡車可方便行動不便的老人、病患或殘障人士使用。但實施時，也可在該後拖架單元72設置可用以承載物品的置物藍(圖未示)，可方便使用者放置物品，例如放置採購的商品等。但實施時，設置於該後拖架單元72的配件不以座椅和置物籃為限。The structural design of the rear trailer frame 7 is installed in the connection space 30 of the front frame group 2, except that the four-wheel self-balancing vehicle can be conveniently manufactured, and the front frame unit 3 can also be conveniently operated. In addition to the front tilting to control the self-balancing vehicle before entering and retreating and turning, it is also convenient for the user to set a seat (not shown) on the rear trailer unit 72, so that the user with difficulty in movement can ride through the seat. The chair is operated to operate the front frame unit 3 to tilt forward and backward, and the self-balancing vehicle made by driving the driving, so that the self-balancing vehicle made by the novel frame mechanism can facilitate the elderly, the patient or the disabled with limited mobility. Used by people. However, in the implementation, the rear tray unit 72 can also be provided with a storage blue (not shown) that can be used to carry the articles, which is convenient for the user to place the articles, for example, placing the purchased goods and the like. However, when implemented, the fittings provided to the rear carriage unit 72 are not limited to the seat and the storage basket.

當使用者不需使用該後拖架組7時，可將該旋轉軸64拆離該轉接件61，便可將該後拖架組7拆離該前車架組2，相當簡便。When the user does not need to use the rear carriage group 7, the rotation shaft 64 can be detached from the adapter 61, and the rear carriage group 7 can be detached from the front frame group 2, which is quite simple.

本實施例實施時，也可改成圖13所示之態樣，該轉接單元6包括一個同軸套設於該第一樞接座41外之環狀轉接件61，及一個直立固接於該轉接件61外周面頂側之 旋轉軸64。該連接軸71是以其前端部往下同軸套接樞設於該旋轉軸64外，藉此設計，該後拖架組7同樣可相對該前車架組2左右樞擺。When the embodiment is implemented, it can also be changed to the aspect shown in FIG. 13. The adapter unit 6 includes a ring-shaped adapter 61 coaxially disposed outside the first pivoting seat 41, and an upright fixed connection. On the top side of the outer peripheral surface of the adapter 61 Rotating shaft 64. The connecting shaft 71 is pivotally disposed outside the rotating shaft 64 with its front end portion being coaxially sleeved. Therefore, the rear tray group 7 can also be pivoted to the left and right with respect to the front frame group 2.

此外，必須說明的是，實施時，該後拖架組7不以設置該第二樞接單元73為必要，可將該連接軸71直接固定於承載座721，而無法相對該承載座721樞轉。In addition, it must be noted that, in implementation, the rear tray group 7 is not necessary to provide the second pivoting unit 73, and the connecting shaft 71 can be directly fixed to the bearing base 721, and cannot be pivoted relative to the bearing base 721. turn.

如圖14、15、16所示，本新型自平衡車之車架機構之第四實施例與第一實施例及第二實施例差異處在於：該前車架組2包括兩個第一樞接單元4，且還包括一個安裝於該等前車架單元3與該等第一樞接單元4間的框架5，該車架機構還包含一個樞設於該前車架組2後方並可供安裝兩個後車輪801的後拖架組7。As shown in FIGS. 14, 15, and 16, the fourth embodiment of the frame mechanism of the self-balancing vehicle differs from the first embodiment and the second embodiment in that the front frame group 2 includes two first pivots. The unit 4 is further included, and further includes a frame 5 mounted between the front frame unit 3 and the first pivoting unit 4. The frame mechanism further includes a pivoting rearward of the front frame group 2 and A rear tray set 7 for mounting two rear wheels 801.

在本實施例中，該等前車架單元3未設置踏板，該等前車輪800是左右間隔地分別安裝於該等架體32之左右相背側，該等角度感測器804是別設置於該等架體32。In the present embodiment, the front frame unit 3 is not provided with a pedal, and the front wheels 800 are respectively mounted on the left and right opposite sides of the frame 32 at right and left intervals, and the angle sensors 804 are set separately. In the frame 32.

該框架5是設置於該等架體32相向側間，且該等第一樞接單元4是分別安裝於該框架5左右兩端與該等架體32間。該框架5具有一個左右延伸且可供踩踏之跨接部52、兩個間隔自該跨接部52兩端往上直立突伸之樞接部51，及一個直立突設於該跨接部52中間部位的軸管部53，且該軸管部53內部界定出一個上下貫穿之連結空間30。The frame 5 is disposed between opposite sides of the frame body 32, and the first pivoting units 4 are respectively mounted between the left and right ends of the frame 5 and the frame bodies 32. The frame 5 has a pivoting portion 51 extending left and right and being stepped on, two pivoting portions 51 spaced upwardly from the ends of the bridging portion 52, and an upright protrusion protruding in the middle of the bridging portion 52. The shaft tube portion 53 of the portion, and the inside of the shaft tube portion 53 defines a joint space 30 that penetrates vertically.

該等第一樞接單元4是分別安裝於該等樞接部 51與該等架體32相向側間，每一個第一樞接單元4包括分別安裝固定於各別之架體32與各別之樞接部51相向側面且相套接的一個第一樞接座41與一個第二樞接座42，及一個安裝固定於相套接的該第一樞接座41與該第二樞接座42的徑向相向側的第一軸承43。The first pivoting units 4 are respectively mounted on the pivoting portions The first pivoting unit 4 includes a first pivotal connection that is respectively fixed to the opposite side of the respective frame body 32 and the opposite side of the pivotal portion 51 and is sleeved. The seat 41 and a second pivoting seat 42 and a first bearing 43 mounted on the radial side of the first pivoting seat 41 and the second pivoting seat 42 are fixed to the sleeve.

該前車架組2還包括一個安裝於該軸管部53之該連結空間30的轉接單元6。該轉接單元6包括一個同軸安裝於該連結空間30中之第三軸承62、一個與該軸管部53同軸安裝於該跨接部52底面之環狀面軸承63、一個安裝固定於該面軸承63底面而可相對該跨接部52水平樞轉之板片狀轉接件61，及一個可水平樞轉地同軸穿插樞設於該第三軸承62中並固接於該轉接件61之旋轉軸64。The front frame group 2 further includes an adapter unit 6 attached to the joint space 30 of the shaft tube portion 53. The adapter unit 6 includes a third bearing 62 coaxially mounted in the connecting space 30, and an annular surface bearing 63 coaxially mounted on the bottom surface of the bridging portion 52 coaxially with the shaft tube portion 53, one of which is mounted and fixed to the surface a plate-like adapter 61 that is horizontally pivotable relative to the bridge portion 52 and a horizontally pivotally coaxially pivotable in the third bearing 62 and fixed to the adapter 61 The rotation axis 64.

該後拖架組7包括一個可左右水平樞擺樞設於該轉接件61並往後延伸之連接軸71、一個設置於該前車架組2後方之後拖架單元72，及兩個前後間隔地安裝於該後拖架單元72且樞設於該連接軸71的第二樞接單元73。該連接軸71具有一個可拆離地被鎖固疊靠於該轉接件61底面之疊靠板部711，及一個自該疊靠板部711往後延伸之軸桿部712。該後拖架單元72具有一個承載座721，及一個左右延伸地安裝樞設於該承載座721以供該等後車輪801安裝於其兩端之後輪軸722。該等第二樞接單元73是前後間隔地安裝於該承載座721底面，每一個第二樞接單元73包括一個固定於該承載座721底面之第二軸承座731，及一個安裝於該第二軸承座731且同軸套設於該軸桿部712之 第二軸承732，藉由該等第二樞接單元73之結構設計，使得該後拖架單元72可相對該前車架組2繞該軸桿部71軸心左右轉動。The rear tray group 7 includes a connecting shaft 71 pivotally pivotally disposed on the adapter member 61 and extending rearward, a tray unit 72 disposed behind the front frame group 2, and two front and rear brackets The second pivoting unit 73 is pivotally mounted to the rear tray unit 72 and pivoted to the connecting shaft 71. The connecting shaft 71 has a lap portion 711 which is detachably locked to the bottom surface of the adapter 61, and a shaft portion 712 extending rearward from the stacking plate portion 711. The rear carriage unit 72 has a carrier 721 and a left and right extensionally mounted axle 722 disposed on the carrier 721 for mounting the rear wheels 801 on both ends thereof. The second pivoting unit 73 is mounted on the bottom surface of the bearing base 721 at intervals. Each of the second pivoting units 73 includes a second bearing seat 731 fixed to the bottom surface of the bearing base 721, and a second mounting base 731 is mounted on the bottom Two bearing seats 731 and coaxially sleeved on the shaft portion 712 The second bearing 732 is configured by the second pivoting unit 73 so that the rear carrier unit 72 can be rotated to the left and right of the shaft portion 71 relative to the front frame group 2 .

透過於該前車架組2之該連結空間30安裝該後拖架組7的設計，使用者是站立於該框架5之該跨接部52上，可透過前後推拉該等前車架單元3之該等把手33的方式，來驅使該等前車架單元3前後傾擺，進而可控制駕駛製成之自平衡車。除了可使製成之自平衡車更為平穩外，還可方便於該後拖架單元72加裝座椅或置物藍，可大幅提高自平衡車的是用性與使用方便性。The rear trailer frame 7 is mounted on the connecting space 30 of the front frame group 2, and the user is standing on the bridging portion 52 of the frame 5, and the front frame unit 3 can be pushed and pulled back and forth. The handles 33 are arranged to drive the front frame unit 3 to tilt forward and backward, thereby controlling the self-balancing vehicle that is driven by the driver. In addition to making the self-balancing vehicle made more stable, it is also convenient to add the seat or the storage blue to the rear trailer unit 72, which can greatly improve the usability and ease of use of the self-balancing vehicle.

如圖17所示，本新型自平衡車之車架機構之第五實施例與第二實施例差異處在於：該前車架組2與該第一樞接單元4間之組接結構設計。As shown in FIG. 17, the fifth embodiment of the frame mechanism of the self-balancing vehicle differs from the second embodiment in the design of the assembly structure between the front frame group 2 and the first pivoting unit 4.

在本實施例中，是將兩***輪自平衡車900分別直接安裝固定於該等前車架單元3，各個獨輪自平衡車900會具有一個前車輪800，及一個角度感測器(圖未示)。In this embodiment, two unicycle self-balancing vehicles 900 are directly mounted and fixed to the front frame units 3, and each unicycle self-balancing vehicle 900 has a front wheel 800 and an angle sensor (Fig. Not shown).

每一個前車架單元3之該踏板31具有一個左右延伸貫穿之安裝孔310。該第一樞接單元4包括一個左右延伸地貫穿樞設於該等安裝孔310間之樞軸45、兩個分別安裝於該等安裝孔310內且分別套設於該樞軸45兩端部的第四軸承46，及四個分別安裝於該等踏板31與該樞軸45間之第一軸承43。The pedal 31 of each of the front frame units 3 has a mounting hole 310 extending therethrough. The first pivoting unit 4 includes a pivoting shaft 45 extending between the mounting holes 310, and two of the pivoting portions 4 are respectively mounted in the mounting holes 310 and are respectively sleeved at the two ends of the pivoting shaft 45. The fourth bearing 46 and the four first bearings 43 respectively mounted between the pedals 31 and the pivot 45.

該樞軸45具有兩個分別穿設於該等第四軸承 46中的軸桿段451，及一個連接於該等軸桿段451間且徑向外擴突伸而位於該連結空間(圖未示)內之凸環段452。該等第一軸承43是兩兩一組地分別套設於該等軸桿段451，且分別安裝於該等踏板31與該凸環段452相向側面間，以及安裝於該等軸桿段451末端部。在本實施例中，該等第一軸承43為止推軸承(plain thrust bearing)，但實施時，該等第一軸承43不以上述類型為限。The pivot 45 has two bearings respectively piercing the fourth bearing A shaft section 451 of 46, and a convex ring section 452 connected between the shaft sections 451 and radially outwardly projecting in the joint space (not shown). The first bearings 43 are respectively disposed on the shaft segments 451 in two groups, and are respectively installed between the pedals 31 and the opposite sides of the collar segments 452, and are mounted on the shaft segments 451. End part. In the present embodiment, the first bearings 43 are plain thrust bearings, but in practice, the first bearings 43 are not limited to the above types.

藉由該等前車架單元3與該第一樞接單元4間的組接結構設計，同樣可使該等前車架單元3能夠被各自獨立操作而前後樞擺，而分別連動各別之獨輪自平衡車900前後傾擺。By the design of the assembly structure between the front frame unit 3 and the first pivoting unit 4, the front frame units 3 can also be independently operated to pivot forward and backward, respectively, and respectively linked to each other. The unicycle self-balancing car 900 tilts forward and backward.

如圖18、19、20所示，本新型自平衡車之車架機構之第六實施例與第五實施例差異處在於：該前車架組2之結構設計，且該車架機構還包含一個安裝於該前車架組2後方之後拖架組7。As shown in FIGS. 18, 19, and 20, the sixth embodiment of the frame mechanism of the self-balancing vehicle differs from the fifth embodiment in the structural design of the front frame group 2, and the frame mechanism further includes A trailer set 7 is mounted after the rear of the front frame group 2.

在本實施例中，該第一樞接單元4之該樞軸45具有兩個左右延伸且分別插裝樞設於該等第四軸承(圖未示)之軸桿段451，及一個直立固接於該等軸桿段451相向端間且外露於該連結空間30之轉接段453，在本實施例中，該轉接段453是呈上下貫穿之直立管狀，該第一軸承43是同軸設置於該轉接段453中。In this embodiment, the pivot 45 of the first pivoting unit 4 has two shaft segments 451 extending left and right and respectively inserted and pivoted on the fourth bearing (not shown), and an upright solid Connected to the opposite end of the shaft section 451 and exposed to the connecting section 453 of the connecting space 30. In the embodiment, the connecting section 453 is an upright tubular penetrating up and down, the first bearing 43 is coaxial Set in the transfer section 453.

該前車架組2還包括一個安裝於該轉接段453之轉接單元6。該轉接單元6包括一個直立穿插樞設於該第一軸承43中之轉接件61，及一個前後穿插設置於該轉接件 61之旋轉軸64。該轉接件61具有一個直立插裝於該第一軸承43之軸插部613，及一個前後延伸地固接於該軸插部613頂端之管狀的轉接管部614。該旋轉軸64是插裝於該轉接管部614。The front frame set 2 further includes an adapter unit 6 mounted to the transfer section 453. The adapter unit 6 includes an adapter 61 that is vertically inserted and pivoted in the first bearing 43 , and a front and rear insertion and insertion of the adapter 61 rotation axis 64. The adapter 61 has a shaft insertion portion 613 that is inserted uprightly into the first bearing 43, and a tubular adapter tube portion 614 that is fixedly attached to the top end of the shaft insertion portion 613. The rotating shaft 64 is inserted into the transfer tube portion 614.

該後拖架組7包括一個樞設於該旋轉軸64並往後延伸至該前車架組2後方之連接桿74，及一個固接於該連接桿74後端之後拖架單元72。該連接桿74具有一個前後延伸的桿體部741，及兩個前後間隔地突設於該桿體部741底面且分別位於該轉接管部614前後端之樞耳部742。該旋轉軸64是穿插樞設於該等樞耳部742與該轉接管部614間。藉由該轉接單元6與該後拖架組7的組接結構設計，使得該後拖架組7可繞該旋轉軸64軸心左右樞轉。The rear carriage group 7 includes a connecting rod 74 pivoted to the rotating shaft 64 and extending rearwardly to the rear of the front frame group 2, and a trailer unit 72 fixed to the rear end of the connecting rod 74. The connecting rod 74 has a rod portion 741 extending forward and backward, and two pivot portions 742 protruding from the bottom surface of the rod portion 741 and spaced apart from each other at the front and rear ends of the connecting tube portion 614. The rotating shaft 64 is pivotally disposed between the pivot portion 742 and the transfer tube portion 614. The assembly structure of the adapter unit 6 and the rear carriage group 7 is designed such that the rear carriage group 7 can pivot about the axis of the rotation shaft 64.

透過於該前車架組2後方加裝該後拖架組7的設計，同樣可方便使用者於該後拖架組7安裝座椅或置物藍，並可大幅提高製成之自平衡車的駕駛穩定性與適用性。By installing the rear trailer group 7 behind the front frame group 2, it is also convenient for the user to install the seat or the storage blue in the rear carriage group 7, and the self-balancing vehicle can be greatly improved. Driving stability and applicability.

在本實施例中，該樞軸45之該轉接段453是設計成直立管狀，可供該轉接件61插裝樞設，但實施時，該轉接段453也可設計成直立桿狀，該第一軸承43是同軸套設於該轉接段453外，並將該轉接件61設計成套接樞設於該第一軸承43外之型式，或者是將該轉接段453設計成頂端面凹設有一個盲孔之結構態樣，將該第一軸承43設置於該盲孔中，並使該轉接件61之該軸插部613可往下插裝樞設於該第一軸承43中。透過上述兩種結構設計，同樣可使 該後拖架組4可相對該前車架組2左右樞擺。In this embodiment, the adapter section 453 of the pivot 45 is designed to be upright tubular, and the adapter 61 can be inserted and pivoted. However, when implemented, the adapter section 453 can also be designed as an upright rod. The first bearing 43 is coaxially sleeved outside the adapter section 453, and the adapter 61 is designed to be pivotally disposed outside the first bearing 43, or the adapter section 453 is designed to be The top surface of the adapter member 61 is disposed in the blind hole, and the first bearing 43 is disposed in the blind hole, and the shaft insertion portion 613 of the adapter member 61 can be pivotally mounted to the first In the bearing 43. Through the above two structural designs, the same can be The rear trailer set 4 is pivotable relative to the front frame set 2 to the left and right.

如圖21、22、23所示，本新型自平衡車之車架機構之第七實施例與第二實施例差異處在於：該等前車架單元3之結構設計。As shown in FIGS. 21, 22 and 23, the seventh embodiment of the frame mechanism of the self-balancing vehicle differs from the second embodiment in the structural design of the front frame unit 3.

在本實施例中，該車架機構可供安裝四個前車輪800，而構成一輛四輪自平衡車。該等前車架單元3分別具有一個架體32、一個安裝於該架體32底端的踏板31、一個安裝於該架體32頂端的把手33，及一個安裝於該架體32的連接架34。In the present embodiment, the frame mechanism can be used to mount four front wheels 800 to form a four-wheel self-balancing vehicle. The front frame units 3 respectively have a frame body 32, a pedal 31 mounted to the bottom end of the frame body 32, a handle 33 attached to the top end of the frame body 32, and a connecting frame 34 mounted to the frame body 32. .

該等連接架34是呈前後延伸桿狀，並以其中間區段分別水平樞設於該等架體32之左右相背側，該等前車輪800是兩兩前後一組地分別安裝於該等連接架34之前後端部。The connecting brackets 34 are in the shape of a front and rear extending rods, and are horizontally pivotally disposed on the left and right opposite sides of the racks 32, and the front wheels 800 are respectively mounted on the front and rear panels. Wait until the rear end of the bracket 34.

透過該等前車架單元3與該第一樞接單元4之結構設計，除了仍可使該等前車架單元3能夠被各自獨立操作而前後樞擺外，還可供安裝四個前車輪800，可使製成之自平衡車更為平穩且不會傾倒。Through the structural design of the front frame unit 3 and the first pivoting unit 4, in addition to the front frame unit 3 being able to be independently operated and pivoted forward and backward, four front wheels can be installed. 800, the self-balancing car made can be made more stable and will not fall.

綜上所述，透過該等前車架單元3及該第一樞接單元4之組合結構設計，以及該等前車架單元3、該框架5及該第一樞接單元4之組合結構設計，可方便供該等前車輪800與該等角度感測器804安裝以構成一輛兩輪自平衡車，也可供兩***輪自平衡車直接安裝，而構成一輛兩輪或四輪的自平衡車，且還可方便選擇以雙手操控該前車架單元3之該把手33的方式，及/或以雙腳踩踏操控該等踏板 31的方式，來控制該自平衡車之行進與轉彎，可大幅提高所製成之自平衡車的操控靈活度。In summary, the combined structural design of the front frame unit 3 and the first pivoting unit 4, and the combined structural design of the front frame unit 3, the frame 5 and the first pivoting unit 4 The front wheel 800 and the angle sensors 804 can be conveniently installed to form a two-wheel self-balancing vehicle, and can also be directly installed by two single-wheel self-balancing vehicles to form a two- or four-wheeled vehicle. Self-balancing car, and it is also convenient to select the manner of manipulating the handle 33 of the front frame unit 3 with both hands, and/or pedaling the pedals with two feet The way of 31, to control the travel and turn of the self-balancing vehicle, can greatly improve the handling flexibility of the self-balancing vehicle.

此外，透過另外加裝於該前車架組2後方之該後拖架組7結構設計，除了可藉此構成四輪自平衡車，而提高自平衡車之駕駛穩定性外，還可方便使用者根據需求加裝座椅或者是置物藍等配件，而可大幅擴大製成之自平衡車的適用族群，且更具使場競爭力。因此，本新型確實是一種用於自平衡車的創新車架機構設計。因此，確實可達到本新型之目的。In addition, through the structural design of the rear trailer group 7 additionally installed behind the front frame group 2, in addition to the four-wheel self-balancing vehicle, the driving stability of the self-balancing vehicle can be improved, and the utility model can be conveniently used. According to the needs of the installation of seats or accessories such as storage blue, but can greatly expand the applicable family of self-balancing vehicles, and more competitive. Therefore, the present invention is indeed an innovative frame mechanism design for a self-balancing vehicle. Therefore, the purpose of the present invention can be achieved.

惟以上所述者，僅為本新型之實施例而已，當不能以此限定本新型實施之範圍，即大凡依本新型申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本新型專利涵蓋之範圍內。However, the above description is only for the embodiments of the present invention, and the scope of the present invention cannot be limited thereto, that is, the simple equivalent changes and modifications made by the present patent application scope and the contents of the patent specification are still It is within the scope of this new patent.

2‧‧‧車架機構2‧‧‧ frame mechanism

3‧‧‧前車架單元3‧‧‧Front frame unit

31‧‧‧踏板31‧‧‧ pedal

33‧‧‧把手33‧‧‧Hands

4‧‧‧第一樞接單元4‧‧‧First pivotal unit

41‧‧‧第一樞接座41‧‧‧First pivoting seat

42‧‧‧第二樞接座42‧‧‧Second pivoting seat

800‧‧‧前車輪800‧‧‧ front wheel

Claims (22)

一種自平衡車之車架機構，適用於組裝兩個角度感測器，及兩個分別與該等角度感測器訊號連接之前車輪，且該等前車輪可分別被該等角度感測器之前後傾斜角度觸發轉動，以使各別之角度感測器趨向平衡，該車架機構包含一個前車架組，該前車架組包括：兩個前車架單元，分別可安裝一個前車輪與一個角度偵測器，每一個前車架單元可***作而單獨帶動各別之角度偵測器同步前後傾擺位移，且該等前車架單元相配合界定出一個介於兩者間之連結空間；及一個第一樞接單元，連接該等前車架單元而使該等前車架單元可各自獨立地前後樞擺。A frame mechanism for a self-balancing vehicle, which is suitable for assembling two angle sensors, and two wheels respectively connected to the angle sensor signals, and the front wheels can be respectively used by the angle sensors The front and rear tilt angles trigger the rotation to balance the respective angle sensors, and the frame mechanism includes a front frame set including: two front frame units, each of which can be mounted with a front wheel and An angle detector, each of the front frame units can be operated to separately drive the respective angle detectors to synchronize the front and rear tilting displacements, and the front frame units cooperate to define a connection between the two a space; and a first pivoting unit that connects the front frame units such that the front frame units are independently pivotable forward and backward. 如請求項1所述的自平衡車之車架機構，其中，每一個前車架單元具有一個可供踩踏前後傾擺，而傳動整個前車架單元帶動各別之角度感測器前後傾擺的踏板，該連結空間是介於該等踏板相向側間，該第一樞接單元是樞設於該等踏板間而位於該連結空間內。The frame mechanism of the self-balancing vehicle according to claim 1, wherein each of the front frame units has a tiltable front and rear tilting, and the entire front frame unit drives the respective angle sensors to tilt forward and backward. The pedal is located between the opposite sides of the pedals, and the first pivoting unit is pivoted between the pedals and located in the connecting space. 如請求項2所述的自平衡車之車架機構，其中，該等踏板是呈中空箱體狀，可分別供各別之車輪與各別之角度感測器安裝。The frame mechanism of the self-balancing vehicle according to claim 2, wherein the pedals are in the form of a hollow box, and can be separately mounted for the respective wheels and the respective angle sensors. 如請求項2所述的自平衡車之車架機構，其中，該前車架單元還具有一個可被前後推拉而傳動整個前車架單元帶動各別之角度感測器前傾與後傾的把手。The frame mechanism of the self-balancing vehicle according to claim 2, wherein the front frame unit further has a front frame unit that can be pushed forward and backward to drive the entire front frame unit to drive the respective angle sensors to lean forward and backward. handle. 如請求項2所述的自平衡車之車架機構，其中，該第一 樞接單元包括分別安裝固定於該等踏板並同軸套接之一個第一樞接座與一個第二樞接座，及一個同軸安裝於該第一樞接座與該第二樞接座間並使該第一樞接座與該第二樞接座可相對前後樞轉之第一軸承。The frame mechanism of the self-balancing vehicle according to claim 2, wherein the first The pivoting unit includes a first pivoting seat and a second pivoting seat respectively fixed to the pedals and coaxially sleeved, and a coaxially mounted between the first pivoting seat and the second pivoting seat and The first pivoting seat and the second pivoting seat are pivotable relative to the first bearing. 如請求項5所述的自平衡車之車架機構，其中，該等前車架單元還分別具有一個架體，該等踏板分別具有一個固接於各別之架體底端並朝另一個前車架單元突伸之踩踏壁，及一個與該架體間隔相向地自該踩踏壁往上直立延伸之擋靠壁，該連結空間是介於該等擋靠壁相向側間，該第一樞接座與該第二樞接座是分別安裝於該等擋靠壁的相向側面。The frame mechanism of the self-balancing vehicle of claim 5, wherein the front frame units further have a frame body, each of the pedals having a bottom fixed to the bottom of each frame and facing the other a stepping wall protruding from the front frame unit, and a blocking wall extending upward from the stepping wall opposite to the frame body, the connecting space being between the opposite sides of the blocking wall, the first pivot The socket and the second pivot socket are respectively mounted on opposite sides of the blocking wall. 如請求項2所述的自平衡車之車架機構，其中，該等踏板分別具有一個左右延伸之安裝孔，該第一樞接單元包括一支左右延伸地穿設於該等安裝孔中的樞軸、兩個分別同軸樞設於該等安裝孔中且分別套接樞設於該樞軸外之第四軸承，及四個分別安裝於該樞軸與該等踏板間之第一軸承，該樞軸具有兩個分別穿設於該等第四軸承中之軸桿段，及一個連接於該等軸桿段間且徑向外擴突伸而外露於該連結空間之凸環段，該等第一軸承是兩兩一組地分別套設於該等軸桿段，且分別安裝於該等踏板與該凸環段相向側面間，以及安裝於該等軸桿段末端部。The frame mechanism of the self-balancing vehicle of claim 2, wherein the pedals respectively have a mounting hole extending left and right, the first pivoting unit includes a pair of left and right extending passages in the mounting holes a pivoting shaft, two coaxially disposed in the mounting holes and respectively sleeved with a fourth bearing pivoted outside the pivot shaft, and four first bearings respectively mounted between the pivot shaft and the pedals, The pivot shaft has two shaft segments respectively disposed in the fourth bearings, and a convex ring segment connected between the shaft segments and radially expanding and protruding to expose the joint space. The first bearing is sleeved on the shaft segments in two groups, and is respectively installed between the pedals and the opposite sides of the collar segments, and is mounted on the end portions of the shaft segments. 如請求項2所述的自平衡車之車架機構，還可供兩個後車輪安裝，其中，該前車架組還包括一個安裝於該連結 空間，且可上下樞轉地同軸套設於該第一樞接單元外之轉接單元，該車架機構還包含一個樞設於該轉接單元且位於該前車架組後方，並可供該等後車輪左右安裝樞設之後拖架組。The frame mechanism of the self-balancing vehicle according to claim 2 is further applicable to two rear wheels, wherein the front frame group further includes a link installed on the link a space, and a pivoting coaxially disposed on the adapter unit outside the first pivoting unit, the frame mechanism further comprising a pivoting unit disposed at the rear of the front frame and available The rear wheels are pivotally mounted to the left and right rear bracket groups. 如請求項8所述的自平衡車之車架機構，其中，該後拖架組包括一個可左右樞擺地樞設於該轉接單元並自該轉接單元往後延伸之連接軸、一個位於該前車架組後方之後拖架單元，及一個固定於該後拖架單元且可繞該連接軸軸心樞轉地樞設於該連接軸後端部之第二樞接單元。The frame mechanism of the self-balancing vehicle according to claim 8, wherein the rear tray group includes a connecting shaft pivotally disposed at a left and right pivoting manner and extending from the adapter unit, and a connecting shaft The trailer unit is located behind the front frame group, and a second pivoting unit fixed to the rear tray unit and pivotally pivotable about the connecting shaft axis at the rear end of the connecting shaft. 如請求項9所述的自平衡車之車架機構，其中，該轉接單元包括一個環狀轉接件，及一個上下插裝樞設於該轉接件與該連接軸間之旋轉軸，該轉接件具有一個同軸套接樞設於該第一樞接單元外之套環部，及兩個上下間隔地自該套環部往後突伸之樞耳部，該連接軸前端部是設置於該等樞耳部間，該旋轉軸上下穿插樞設於該等樞耳部且穿插樞設於該連接軸前端部。The frame mechanism of the self-balancing vehicle of claim 9, wherein the adapter unit comprises a ring-shaped adapter, and a rotating shaft pivotally disposed between the adapter and the connecting shaft. The adapter has a sleeve portion pivotally disposed outside the first pivoting unit, and two pivoting portions projecting rearwardly from the collar portion, the front end of the connecting shaft is disposed The pivoting shaft is pivotally disposed at the pivotal portion of the pivoting portion and is pivotally disposed at a front end portion of the connecting shaft. 如請求項9所述的自平衡車之車架機構，其中，該轉接單元包括一個環狀轉接件，及一個直立固定於該轉接件並與該連接軸可水平樞轉地樞接之旋轉軸，該轉接件具有一個同軸套接樞設於該第一樞接單元外之套環部，該旋轉軸是直立固定該套環部外周面頂側，且可水平樞轉地樞設於該連接軸前端部。The frame mechanism of the self-balancing vehicle according to claim 9, wherein the adapter unit comprises an annular adapter, and an upright fixed to the adapter and pivotally pivotally connected to the connecting shaft a rotating shaft, the adapter has a sleeve sleeve pivotally disposed outside the first pivoting unit, the rotating shaft is a top side of the outer peripheral surface of the collar portion, and is horizontally pivotable It is provided at the front end of the connecting shaft. 如請求項8所述的自平衡車之車架機構，其中，該等踏 板分別具有一個左右延伸之安裝孔，該第一樞接單元包括一支左右延伸地穿設於該等安裝孔中的樞軸、兩個分別同軸樞設於該等安裝孔中且分別套接樞設於該樞軸外之第四軸承，及一個安裝於該樞軸之第一軸承，該樞軸具有兩個左右延伸且分別插裝樞設於該等第四軸承中之軸桿段，及一個上下軸向延伸連接於該等軸桿段間而外露於該連結空間內之中空管狀的轉接段，該第一軸承是同軸設置於該轉接段中，轉接單元是可水平樞轉地同軸插裝樞設於第一軸承，該後拖架組包括一個位於該前車架組後方而可供該等後車輪安裝的後拖架單元，及一個可左右樞轉地樞設於該轉接單元並往後延伸固接於該後拖架單元的連接桿。The frame mechanism of the self-balancing vehicle according to claim 8, wherein the steps are The first pivoting unit includes a pivoting shaft extending through the mounting holes. The two pivoting shafts are coaxially disposed in the mounting holes and are respectively sleeved. a fourth bearing pivoted outside the pivot, and a first bearing mounted on the pivot, the pivot having two shaft sections extending left and right and respectively inserted into the fourth bearing And a hollow tubular transition section extending between the shaft segments and exposed in the joint space, the first bearing is coaxially disposed in the transition section, and the adapter unit is horizontally pivotable The grounding coaxial plug-in pivot is disposed on the first bearing, and the rear trailer set includes a rear trailer unit located behind the front frame group for the rear wheels, and a pivotable pivoting mechanism The adapter unit extends rearwardly to the connecting rod of the rear tray unit. 如請求項12所述的自平衡車之車架機構，其中，該轉接單元包括一個插裝樞設於該第一軸承之轉接件，及一個插裝於該轉接件之旋轉軸，該轉接件具有一個可水平樞轉地插裝樞設於該第一軸承的軸插部，及一個前後軸向延伸地固接於該軸插部頂端之轉接管部，該連接桿具有一個前後延伸且固接於該後拖架單元之桿體部，及至少一個與該轉接管部同軸之樞耳部，該旋轉軸是前後穿插樞設於該樞耳部與該轉接管部間。The frame mechanism of the self-balancing vehicle of claim 12, wherein the adapter unit comprises an adapter that is pivotally mounted to the first bearing, and a rotating shaft that is inserted into the adapter. The adapter has a shaft insertion portion pivotally pivotally mounted to the first bearing, and a transfer tube portion axially extending forwardly and axially to the top end of the shaft insertion portion, the connecting rod having a shaft portion extending forward and backward and fixed to the rear tray unit, and at least one pivot portion coaxial with the adapter tube portion, the rotating shaft is pivotally disposed at the pivot portion and the transfer tube Inter-department. 如請求項9至11任一項所述的自平衡車之車架機構，其中，該第二樞接單元包括一個固定於該後拖架單元之第二軸承座，及一個同軸安裝於該第二軸承座與該連接軸間之第二軸承。The frame mechanism of the self-balancing vehicle according to any one of claims 9 to 11, wherein the second pivoting unit comprises a second bearing seat fixed to the rear carrier unit, and a coaxial mounting on the first a second bearing between the bearing housing and the connecting shaft. 如請求項9~13任一項所述的自平衡車之車架機構，其中，該後拖架單元包括一個承載座，及一個左右延伸樞設於該承載座並供該等後車輪分別樞設於其左右兩端的後輪軸。The frame mechanism of the self-balancing vehicle according to any one of claims 9 to 13, wherein the rear trailer unit comprises a carrier, and a left and right extension is pivoted on the carrier and the rear wheels are respectively pivoted Rear axles located at the left and right ends. 如請求項2所述的自平衡車之車架機構，適用於組裝四個前車輪，其中，該等前車架單元還分別具有一個架體，及一個可相對前後樞擺地樞設於各別之架體且可供兩個車輪前後間隔安裝的連接架。The frame mechanism of the self-balancing vehicle according to claim 2 is suitable for assembling four front wheels, wherein the front frame units respectively have a frame body, and one of the front frame units is pivotally disposed at a front and a rear A frame that can be mounted on the front and rear of the two wheels. 如請求項16所述的自平衡車之車架機構，其中，該等連接架是呈前後水平延伸之桿狀，且分別以其中間區段安裝樞設於各別之架體，並可供該等車輪分別安裝於其前後端部。The frame mechanism of the self-balancing vehicle according to claim 16, wherein the connecting brackets are rod-shaped extending horizontally in front and rear, and are respectively pivotally mounted on the respective frames in the middle section thereof, and are available The wheels are mounted at their front and rear ends, respectively. 一種自平衡車之車架機構，適用於組裝兩個角度感測器，及兩個分別與該等角度感測器訊號連接之前車輪，且該等前車輪可分別被該等角度感測器之前後傾斜角度觸發轉動，以使各別之角度感測器趨向平衡，該車架機構包含一個前車架組，該前車架組包括：兩個前車架單元，分別可安裝一個角度感測器與一個前車輪，且每一個前車架單元可***作而單獨帶動各別之角度感測器同步前後傾擺位移；一個框架，左右延伸設置於該等前車架單元間，具有一個左右延伸之跨接部，及兩個直立固接於該跨接部左右兩端之樞接部，且該框架還界定出一個上下貫穿的連結空間；及 兩個第一樞接單元，分別安裝樞設於該等前車架單元與該框架之該等樞接部間，使該等前車架單元可各自獨立地前後傾擺。A frame mechanism for a self-balancing vehicle, which is suitable for assembling two angle sensors, and two wheels respectively connected to the angle sensor signals, and the front wheels can be respectively used by the angle sensors The front and rear tilt angles trigger the rotation to balance the respective angle sensors, the frame mechanism includes a front frame set, the front frame set includes: two front frame units, each of which can be mounted with an angle sensing And a front wheel, and each of the front frame units can be operated to separately drive the respective angle sensors to synchronize the front and rear tilting displacement; a frame extending left and right between the front frame units, having a left and right An extended bridging portion, and two pivoting portions erected to the left and right ends of the bridging portion, and the frame further defines a connecting space running up and down; and Two first pivoting units are respectively disposed between the front frame unit and the pivoting portions of the frame, so that the front frame units can be tilted back and forth independently. 如請求項18所述的自平衡車之車架機構，還適用於組裝兩個後車輪，該車架機構還包含一個安裝於該連結空間而樞設於該跨接部且位於該前車架組後方，並供該等後車輪左右樞設之後拖架組。The frame mechanism of the self-balancing vehicle according to claim 18 is further adapted to assemble two rear wheels, the frame mechanism further comprising a frame mounted on the connecting space and pivoted on the cross frame and located in the front frame Behind the group, and for the rear wheels to be pivoted left and right after the trailer group. 如請求項19所述的自平衡車之車架機構，其中，該框架還具有一個上下貫穿設置於該跨接部中心部位且界定出該連結空間之中空管狀的軸管部，該前車架組還包括一個安裝於該框架之轉接單元，該轉接單元包括一個同軸安裝於該連結空間中的第三軸承、一個設置於該跨接部下方之板片狀轉接件、一個安裝於該轉接件與該跨接部相向側間而使該轉接件可水平樞轉之面軸承，及一個上下穿插樞設於該第三軸承且固接於該轉接件的旋轉軸，該後拖架組包括一個安裝固定於該轉接件且往後延伸之連接軸、一個位於該前車架組後方並供該等後車輪安裝樞設之後拖架單元，及至少一個安裝固定於該後拖架單元且可繞該連接軸軸心左右樞轉地樞設於該連接軸後端部之第二樞接單元。The frame mechanism of the self-balancing vehicle according to claim 19, wherein the frame further has a hollow tubular shaft portion that is vertically disposed at a central portion of the bridge portion and defines the joint space, the front frame The assembly further includes an adapter unit mounted to the frame, the adapter unit including a third bearing coaxially mounted in the connection space, a plate-like adapter disposed under the bridge portion, and a mounting portion a bearing that is horizontally pivotable between the adapter and the cross-over portion, and a top bearing that is pivotally disposed on the third bearing and fixed to the rotating shaft of the adapter, The rear trailer set includes a connecting shaft fixed to the adapter and extending rearward, a trailer unit located behind the front frame group and configured for pivoting the rear wheels, and at least one mounting fixed to the bracket The rear tray unit is pivotally pivotable about the axis of the connecting shaft to the second pivoting unit at the rear end of the connecting shaft. 如請求項20所述的自平衡車之車架機構，其中，該後拖架單元包括一個承載座，及一個左右延伸樞設於該承載座並供該等後車輪安裝於其兩端部之後輪軸，該第二樞接單元包括一個固定於該承載座之第二軸承座，及一 個安裝於該第二軸承座且供該連接軸插裝樞設之第二軸承。The frame mechanism of the self-balancing vehicle of claim 20, wherein the rear carriage unit comprises a carrier, and a left and right extension is pivoted to the carrier and the rear wheels are mounted at both ends thereof An axle, the second pivoting unit includes a second bearing seat fixed to the carrier, and a second a second bearing mounted to the second bearing housing and pivotally mounted to the connecting shaft. 如請求項21所述的自平衡車之車架機構，其中，該連接軸具有一個安裝疊靠於該轉接件底面之疊靠板部，及一個自該疊靠板部往後延伸插裝樞設於該第二軸承之軸桿部。The frame mechanism of the self-balancing vehicle according to claim 21, wherein the connecting shaft has a stacking plate portion which is mounted on the bottom surface of the adapter, and a post-extending and inserting device from the stacking plate portion. The shaft is pivoted to the shaft portion of the second bearing.
TW104209172U 2014-06-10 2015-06-09 Frame mechanism of self balancing vehicle TWM513829U (en)

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US20150353158A1 (en) 2015-12-10

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